/********************************************************************************
 * Copyright 2015 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_MATHEMATICA_IMAGE_HPP_
#define RWLIBS_MATHEMATICA_IMAGE_HPP_

/**
 * @file rwlibs/mathematica/Image.hpp
 *
 * \copydoc rwlibs::mathematica::Image
 */

#include <rwlibs/mathematica/Mathematica.hpp>

#include <rw/core/Ptr.hpp>

namespace rw { namespace core {
    class PropertyMap;
}}    // namespace rw::core
namespace rw { namespace sensor {
    class Image;
}}    // namespace rw::sensor

namespace rwlibs { namespace mathematica {

    class Rule;

    //! @addtogroup mathematica

    //! @{
    //! @brief Representation of the Mathematica %Image function.
    class Image : public Mathematica::FunctionBase
    {
      public:
        //! @brief Smart pointer type.
        typedef rw::core::Ptr< Image > Ptr;

        /**
         * @brief Construct a Image expression from a RobWork image.
         * @param image [in] the image.
         */
        Image (rw::core::Ptr< const rw::sensor::Image > image);

        /**
         * @brief Construct a Image expression.
         * @param data [in] the data expression (e.g. a variable name, table/list expression, or
         * data array).
         */
        Image (const Mathematica::Expression& data);

        /**
         * @brief Construct a Image expression.
         * @param data [in] the data expression (e.g. a variable name, table/list expression, or
         * data array).
         * @param options [in] the options to use (such as ColorSpace, ImageSize etc.)
         */
        Image (const Mathematica::Expression& data, const rw::core::PropertyMap& options);

        //! @brief Destructor.
        virtual ~Image ();

        //! @copydoc Mathematica::FunctionBase::getArguments
        virtual std::list< rw::core::Ptr< const Mathematica::Expression > > getArguments () const;

        //! @copydoc Mathematica::Expression::clone
        virtual Mathematica::Expression::Ptr clone () const;

        /**
         * @brief Set ImageSize option.
         * @param width [in] the width.
         * @param height [in] the height.
         */
        void setImageSize (std::size_t width, std::size_t height);

        /**
         * @brief Construct RobWork Image from Mathematica Image expression.
         * @param expression [in] the expression to parse.
         * @return the parsed Image expression.
         * @throws rw::common::Exception if parsing fails.
         */
        static rw::core::Ptr< rw::sensor::Image >
        toRobWorkImage (const Mathematica::Expression& expression);

      private:
        Image ();

      private:
        Mathematica::Expression::Ptr _data;
        Mathematica::String::Ptr _type;
        std::list< rw::core::Ptr< Rule > > _rules;
    };
    //! @}
}}     // namespace rwlibs::mathematica
#endif /* RWLIBS_MATHEMATICA_IMAGE_HPP_ */
